//------------------------------------------------- // NAME: M. Benjamin, MIT CSAIL // FILE: $(VNAME).moos //------------------------------------------------- ServerHost = localhost ServerPort = $(BOT_MOOSDB) Community = $(VNAME) #include plug_origin_warp.moos //------------------------------------------------------------ Processconfig = ANTLER { MSBetweenLaunches = 50 Run = MOOSDB @ NewConsole = false Run = pRealm @ NewConsole = false Run = uProcessWatch @ NewConsole = false Run = pShare @ NewConsole = false Run = uSimMarine @ NewConsole = false Run = pLogger @ NewConsole = false Run = pNodeReporter @ NewConsole = false Run = pMarinePID @ NewConsole = false Run = pHelmIvP @ NewConsole = false Run = pHostInfo @ NewConsole = false Run = uFldNodeBroker @ NewConsole = false Run = uLoadWatch @ NewConsole = false Run = pObstacleMgr @ NewConsole = false Run = pContactMgrV20 @ NewConsole = false #ifdef VNAME henry // Run = uTimerScript @ NewConsole = false #endif //-------------------------------------------------------- // uTimerScript Configuration Block ProcessConfig = uTimerScript { AppTick = 8 CommsTick = 8 paused = false reset_max = unlimited reset_time = end randvar = varname=X1, min=0, max=150, key=at_reset randvar = varname=Y1, min=-225, max=-175, key=at_reset event = var=TRACKED_FEATURE, val="x=$[X1], y=$[Y1], label=TEST_$[TCOUNT]", time=0.05 } //---------------------------------------------------- // pHelmIvP Configuration Block ProcessConfig = pHelmIvP { AppTick = 4 CommsTick = 4 Behaviors = targ_$(VNAME).bhv Verbose = false Domain = course:0:359:360 Domain = speed:0:5:26 hold_on_apps = pContactMgrV20 } //-------------------------------------------------------- // pNodeReporter Configuration Block ProcessConfig = pNodeReporter { AppTick = 2 CommsTick = 2 vessel_type = kayak terse_reports = true } //-------------------------------------------------------- // pContactMgrV20 Configuration Block ProcessConfig = pContactMgrV20 { AppTick = 2 CommsTick = 2 decay = 30,60 alert_verbose = true contact_max_age = 35 display_radii = true display_radii_id = avd //match_region = pts = {60,-40 : 60,-160 : 150,-160 : 180,-100 : 150,-40} //match_type = kayak, uuv //alert = id=say, onflag=SAY_MOOS=hello, //alert = id=say, offflag=SAY_MOOS=bye, //alert = id=say, alert_range=80, cpa_range=100 display_radii = true alert_range_color = gray70 cpa_range_color = gray30 } #include plug_uFldNodeBroker.moos #include plug_pShare.moos #include plug_pHostInfo.moos #include plug_uSimMarine.moos #include plug_pMarinePID.moos #include plug_pLogger.moos #include plug_uProcessWatch.moos #include plug_uLoadWatch.moos #include plug_pObstacleMgr.moos